A Real Option for Justice? The International Crimes Division of the High Court of Kenya

One and a half years since the International Crimes Division (ICD) in the High Court of Kenya was first proposed by the Judicial Service Commission (JSC) in its report of October 20121 , there has been little concrete movement towards actually setting up the Division. This is not in itself a criticism; such processes should take the time necessary to achieve the desired results. However, apart from publishing the report, making several 'bench-marking' visits to other countries and holding two low-key workshops, the JSC seems to have made little progress towards actualising an ICD. Despite this inertia, the Division continues to be touted in official circles as a potential answer to providing justice for victims of post-election violence as well as a potential replacement of the ICC ongoing process

A Study on the Performance Comparison of α-β-γ Filter and Kalman Filter for a Tracking Module on board High Dynamic Warships

Tracking refers to the estimation of the state of a target on motion with some degree of accuracy given at least one measurement. The measurement, which is the output obtained from sensors, contains system errors and errors resulting from the surrounding environment. Tracking filters play the key role of target state estimation after which the tracking system is updated. Therefore, the type of filter used in carrying out the estimations is crucial in determining the integrity and reliability of the updated value. This is especially true since different filters vary in their performance when subjected to different environments and initial conditions of motion dynamics. In addition, applications of different filter design methods have previously confirmed that filtering performance is a tradeoff between error reduction and a good transient response. Therefore, the criteria for selecting a particular filter for use in a tracking application depends on the given performance requirement. This study explores and investigates the operation of the Kalman filter and three α-β-γ tracking filter models that include Benedict-Bordner also known as the Simpson filter, Gray-Murray model and the fading memory α-β-γ filter. These filters are then compared based on the ability to reduce noise and follow a high dynamic target warship with minimum total lag error. The total lag error is the cumulative residual error computed from the difference between the true and the predicted positions, and the true and estimated positions for the given data samples. The results indicate that, although the Benedict-Bordner model performs poorly compared to the other filters in all aspects of performance comparison, the filter starts off sluggishly at the beginning of the tracking process as indicated by the overshooting on the trajectories, but stabilizes and picks up a good transient response as the tracking duration increases. The Gray-Murray model, on the other hand, demonstrates a better tracking ability as depicted by its higher accuracy and an even better response to a change in the target’s maneuver as compared to the Benedict-Bordner model. The Fading memory model out-performs the other two α-β-γ filters in terms of tracking and estimation error reduction, but based on sensitivity to target maneuvers and variance reduction ratio the Gray-Murray model demonstrates a slightly better performance. The Kalman filter, on the other hand, has a higher tracking accuracy compared to the α-β-γ filters which, however, have a higher sensitivity to target maneuvers and data stability as indicated by the steadier trajectories obtained. These results are a further proof that no one particular filter is perfect in all dimensions of selection criteria but it is rather a compromise that has to be made depending on the requirement of the physical system under consideration.Chapter 1 Introduction 1 1.1 Scope 1 1.2 Literature 2 1.2.1 Role of a Filter in a Physical System 2 1.2.2 Literature Review 3 1.3 Methodology and Contents 6 Chapter 2 Theory of Tracking Filters 8 2.1 Theory of α-β-γ Tracking Filter 8 2.1.1 Benedict-Bordner model 10 2.1.2 Gray-Murray model 10 2.1.3 The Fading memory model 11 2.2 Theory of the Kalman Filter 12 Chapter 3 Simulation 15 3.1 Initial Input of Target Dynamics 15 3.2 Input Motion Model of the Target Dynamics 15 3.3 Noise Modelling 16 3.4 α-β-γ Filter Weights Selection and Computation 17 3.4.1 Filter Gain Coefficient Selection Using Benedict-Bordner Model 17 3.4.2 Filter Gain Coefficient Selection Using Gray-Murray Model 18 3.4.3 Filter Gain Coefficient Selection Using Fading Memory Model 20 3.4.3.1 Fading memory model Optimization 22 3.4.3.1.1 Optimization by Position 23 3.4.3.1.2 Optimization by Velocity and Acceleration 28 3.5 Kalman Filter Tuning 31 3.5.1 Q Covariance Matrix Tuning 31 3.5.2 R Covariance Matrix Tuning 33 3.6 Result Analysis and Discussion 34 3.6.1 α-β-γ Filter Results and Remarks 34 3.6.2 Kalman Filter Results and Remarks 40 3.6.3 Kalman Filter vs. α-β-γ Filter 42 Chapter 4 Conclusion and Future Prospects 44 Reference 47 Acknowledgments 49Maste

Unusually low arcuate artery in a Kenyan cadaver

The arcuate artery is one of the two major branches of the dorsalis pedis artery that supply the dorsum of the foot including interdigital spaces. The artery’s origin varies but in almost all cases it branches in the proximal third of the dorsum of the foot. During routine dissection of the right foot in a black Kenyan, we encountered a case where the artery was located and branched in the distal third of the dorsum of the foot, at the level of the metatarsophalangeal joint. This is much more distal than previously reported in prevailing literature. This artery did not give off any dorsal metatarsal arteries but gave the digital arteries directly. The dorsalis pedis artery, lateral and medial tarsal arteries had normal course in this foot.Keywords: Translational research; Dorsalis pedis artery; Integration; Arcuate arter

Pregnancy in Sickle Cell Disease, with Human-Immunodeficiency Virus (HIV) and Obstructive Jaundice

Sickle cell disease (SCD) is an autosomal recessively inherited hemoglobinopathy whose pathology involves tissue anoxia occasioned by abnormally shaped red cells. Although its burden is higher in Sub-Saharan Africa, an improvement in the quality and accessibility of healthcare has led to a prolonged lifespan for the affected. In effect, as more SCD patients conceive, the impact of the disorder on pregnancy continues to unravel. Its ramifications on conception and pregnancy include intrauterine growth restriction, fetal death, miscarriages, and subfertility. Also, sickling crisis in labour, postpartum haemorrhage, pre-eclampsia, and the need for caesarian delivery, often ensue peripartum. Unpacking pregnancy in SCD from the antenatal care perspective, intrapartum considerations, and continuity of care in the postnatal period is thus an essential concept for all practitioners to improve care provision for these mothers. Through the lenses of a case of pregnancy in SCD, HIV infection, and obstructive jaundice, our review journeys the complex course of care for a patient for 7weeks in our facility. We outline concepts of comprehensive patient care for pregnancy in SCD based on currently available evidence, and how they were applied to ensure optimal outcomes for the fetus and mother, whose case posed a unique challenge to the obstetric team

The Influence Of Market Orientation On The Choice Of A Shipping Firm By Fruit Exporters Of Refrigerated Cargo N Kenya

In the last few years, firms within the shipping business have transitioned from ahomogenous service business towards a heterogeneous market characterized by an increasein number of shipping firms, value offerings, well informed customer, rapid changes incustomer taste and preferences. The motivation of the study was to determine the influenceof market orientation on the choice of a shipping line by fruit exporters of refrigeratedcargo in Kenya. The study population consists of all the 39 fruit exporters of refrigeratedcargo as listed on the Fresh Produce Association of Kenya Website. A cross sectionaldescriptive survey was used. A questionnaire was developed to assist in collecting primarydata, while secondary data were obtained from renowned authors in the field of marketing.Analysis of data was done using descriptive and inferential statistics. The influence ofMarket orientation was measured using a construct developed by Narver and Slater’s(1990), customized for the shipping industry. The results reveal that Market orientationwas depicted by more emphasis on inter functional co-ordination compared to bothcustomer orientation and competitor orientation. Limitations encountered during research.The descriptive cross sectional research design could not measure changes inorganizational culture over time, the study was limited to a single industry put constraintson generalizing of the results. It was recommended that all studies done in future shouldadopt longitudinal research design to evaluate changes in organizational culture and theirinfluence on performance over time. Further, to capture representative view of industry,future studies need to use multiple informant approach

A Study on the Performance Comparison of Three Optimal Alpha-Beta-Gamma Filters and Alpha-Beta-Gamma-Eta Filter for a High Dynamic Target

The Alpha-Beta-Gamma tracking filter is useful for tracking a constant acceleration target with zero lag error in the steady state. It, however, depicts a constant lag error for a maneuvering target. Various algorithms of the Alpha-Beta-Gamma tracking filter exist in literature and each one of them presents its own unique challenges and advantages depending on the design requirement. This study investigates the operation of three Alpha-Beta-Gamma tracking filter design methods which include Benedict-Bordner also known as the Simpson filter, Gray-Murray filter and the fading memory constant acceleration filter. These filters are then compared based on the ability to reduce noise and follow a maneuvering target with minimum lag error, against the jerky model Alpha-Beta-Gamma-Eta. Results obtained from simulations of the input model of the target dynamics under consideration indicate an improvement in performance of the jerky model in comparison with the constant acceleration models

A Study of Optimization of Alpha-Beta-Gamma-Eta Filter for Tracking a High Dynamic Target

The tracking filter plays a key role in accurate estimation and prediction of maneuvering vessel’s position and velocity. Different methods are used for tracking. However, the most commonly used method is the Kalman filter and its modifications. The Alpha-Beta-Gamma filter is one of the special cases of the general solution pro-vided by the Kalman filter. It is a third order filter that computes the smoothed estimates of position, velocity and acceleration for the nth observation, and also predicts the next position and velocity. Although found to track a maneuvering target with a good accuracy than the constant velocity, Alpha-Beta filter, the Alpha-Beta-Gamma filter does not perform impressively under high maneuvers such as when the target is undergoing changing accelerations. This study, therefore, aims to track a highly maneuvering target experiencing jerky motions due to changing accelerations. The Alpha-Beta-Gamma filter is extended to include the fourth state that is, constant jerk to correct the sudden change of acceleration in order to improve the filter’s performance. Results obtained from simulations of the input model of the target dynamics under consideration indicate an improvement in performance of the jerky model, Alpha-Beta-Gamma-Eta, algorithm as compared to the constant acceleration model, Alpha-Beta-Gamma in terms of error reduction and stability of the filter during target maneuver

The Role of Human Resource Management Practices on Employee Commitment: A Case Study of International Livestock Research Institute (ILRI)

A Project Report Submitted to the Chandaria School of Business in Partial Fulfillment of the Requirement for the Degree of Master of Science in Organization Development (MOD)The purpose of the study was to assess the role of human resource management practices on employee commitment at ILRI. The study was guided by the following research questions: To what extent does training and development practices affect employee commitment at ILRI? To what extent do employee performance evaluation practices affect employee commitment at ILRI? To what extent do employee compensation strategies affect employee commitment at ILRI? The study adopted a descriptive research design. The target population was a total of 420 employees working at ILRI Nairobi. The study applied stratified random sampling technique to select a sample size of 42 respondents. The study adopted questionnaire method to collect data. The Statistical Package for Social Sciences (SPSS) computer software was used for data analysis. The data was cleaned, coded, categorized per each of the research variables and then analyzed using frequencies and percentages and regression analysis to establish the relationship between the independent and dependent variables. The findings were presented using figures and tables. The study found that there was a significant relationship between training and development and employee commitment. Most respondents were in agreement that training and development enhanced employee performance. Many of the respondents agreed that participation in training increased their level of commitment towards the organization. The study also found that respondents were neutral towards the management support on training and development as a measure of employee commitment. The study found a significant relationship between performance evaluation and employee commitment. Majority of the respondents found that performance evaluation enhances productivity of employees which in turn raises their level of commitment to the organization. It was found that respondents strongly agreed on the need of having a performance management system. However few respondents were neutral when responding to performance management and its sustainability of good performance. The study revealed that there was a significant relationship between employee compensation and employee commitment. Majority of the respondents strongly agreed that, competitive remuneration enhances employee commitment. Most respondents strongly agreed that annual company performance bonus had an effect on employee commitment. Few employees were neutral, when they responded to, incentives and good wages enhanced employee commitment. However majority of the respondents strongly agreed that symbolic gifts (caps’ badges, t-shirts) enhanced employee commitment. The study concludes that training and development, performance management and competitive remuneration are significant factors and have positive effect in increased employee commitment. Initiatives taken under each of the factors such as; the opportunity to participate in training programs, having and effective performance management system and offering incentives and good wages and benefits administration respectively all had a positive outlook on employee commitment. The study recommends that organizations should drive learning through career, peer counselor seminars that enrich employees’, encourage growth and career development of employees by coaching, and by helping employees to achieve their personal goals. The study further recommends an improvement on employees working environment by providing a safe and healthy working environment with modern office facilities and equipment, this will increase the level of employee motivation. On competitive remuneration the study recommends an implementation of employee reward and recognition programs that will seek to award employee efforts raise motivation level and increase commitment

Political Risk Factors Associated With Post Traumatic Stress Disorder among Internally Displaced Persons in Post- Election Violence of 2007/2008 in Kenya: Case of Mai Mahiu Camps in Nakuru County

Thesis Submitted to the School of Humanities and Social Sciences (SHSS) in Partial Fulfilment of the Requirement for the Degree of Master of Arts in International RelationsPost-election violence (PEV) witnessed in Kenya in the year 2007 - 2008 mostly in the informal settlements of major towns. The violence peculiarly created a traumatic event that increased risk for post trauma stress disorder (PTSD) among other many psychiatric conditions and psychological disorders. PTSD is influenced by a number of risk factors that are demographic or external. This study sought to establish current levels of PTSD and associated political risk factors among the post-election violence internally displaced persons (IDPs). This study was a cross-sectional descriptive survey design incorporating both qualitative and quantitative research methods in a case of Mai Mahiu Camps in Nakuru County. Yamane (1967:886) formula was used to compute the sample of 145 internally displaced persons sampled using stratified and simple random sampling methods to complete researcher administered questionnaires containing Impact of Events Scale. Data tools were pretested and Cronbach Alpha coefficient of 0.7 used to ascertain validity and reliability in the study. Quantitative data collected was coded, processed and cleaned off any inconsistencies and outliers. Statistical Package for Social Sciences (SPSS Version 21) software was used to analyze the quantitative data using descriptive and inferential statistics. Factor analysis was carried out to reduce dimensions of multidimensional variables. Chi square tests of association, correlation and multiple linear regression models were used to determine the relationship between variables. Qualitative data was analyzed through content analysis and results presented in verbatim. Findings were presented in the form of text, charts, graphs and tables. The findings indicated that all the internally displaced persons had symptoms of PTSD. PTSD was influenced by political factors and social demographic characteristics. Political risk x factors included oncoming elections supporters’ activities; while social demographic factors included age, gender, level of education completed, and marital status. The study recommended that the government should prioritize on their resettlement and guarantee their security and provision pre and post-election periods. Law should be enforced to ensure law, order and respect for humanity in conducting political activities including addressing both supporters and non-supporters. Politicians should be advised to spread messages of peace and prosperity. The public should be sensitized on tolerance, cohesion and integration. Internally displaced persons should be given education, support and therapy to reduce prevalence of PTS

A study of optimization of Alpha-Beta-Gamma-Eta filter for tracking a high dynamic target

The tracking filter plays a key role in accurate estimation and prediction of maneuvering vessel’s position and velocity. Different methods are used for tracking. However, the most commonly used method is the Kalman filter and its modifications. The Alpha-Beta-Gamma filter is one of the special cases of the general solution pro-vided by the Kalman filter. It is a third order filter that computes the smoothed estimates of position, velocity and acceleration for the nth observation, and also predicts the next position and velocity. Although found to track a maneuvering target with a good accuracy than the constant velocity, Alpha-Beta filter, the Alpha-Beta-Gamma filter does not perform impressively under high maneuvers such as when the target is undergoing changing accelerations. This study, therefore, aims to track a highly maneuvering target experiencing jerky motions due to changing accelerations. The Alpha-Beta-Gamma filter is extended to include the fourth state that is, constant jerk to correct the sudden change of acceleration in order to improve the filter’s performance. Results obtained from simulations of the input model of the target dynamics under consideration indicate an improvement in performance of the jerky model, Alpha-Beta-Gamma-Eta, algorithm as compared to the constant acceleration model, Alpha-Beta-Gamma in terms of error reduction and stability of the filter during target maneuver